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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
790806d3
Commit
790806d3
authored
6 years ago
by
Joan Vallvé Navarro
Browse files
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Plain Diff
add prior in dynamic parameters not allowed
parent
eeda1f6a
No related branches found
No related tags found
1 merge request
!243
Constraint prior sensor params
Changes
2
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2 changed files
src/sensor_base.cpp
+7
-47
7 additions, 47 deletions
src/sensor_base.cpp
src/sensor_base.h
+2
-64
2 additions, 64 deletions
src/sensor_base.h
with
9 additions
and
111 deletions
src/sensor_base.cpp
+
7
−
47
View file @
790806d3
...
@@ -82,8 +82,6 @@ void SensorBase::removeStateBlocks()
...
@@ -82,8 +82,6 @@ void SensorBase::removeStateBlocks()
}
}
}
}
void
SensorBase
::
fix
()
void
SensorBase
::
fix
()
{
{
for
(
auto
sbp
:
state_block_vec_
)
for
(
auto
sbp
:
state_block_vec_
)
...
@@ -144,52 +142,14 @@ void SensorBase::unfixIntrinsics()
...
@@ -144,52 +142,14 @@ void SensorBase::unfixIntrinsics()
updateCalibSize
();
updateCalibSize
();
}
}
void
SensorBase
::
addPriorParameter
Static
(
const
StateBlockPtr
&
_sb
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
,
int
_size
)
void
SensorBase
::
addPriorParameter
(
const
unsigned
int
_i
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
,
int
_size
)
{
{
bool
is_quaternion
=
(
std
::
dynamic_pointer_cast
<
StateQuaternion
>
(
_sb
)
!=
nullptr
);
assert
(
!
isStateBlockDynamic
(
_i
)
&&
"SensorBase::addPriorParameter only allowed for static parameters"
);
assert
(
_i
<
state_block_vec_
.
size
()
&&
"State block not found"
);
assert
(
std
::
find
(
state_block_vec_
.
begin
(),
state_block_vec_
.
end
(),
_sb
)
!=
state_block_vec_
.
end
()
&&
"adding prior to unknown state block"
);
assert
(((
!
is_quaternion
&&
_x
.
size
()
==
_cov
.
rows
()
&&
_x
.
size
()
==
_cov
.
cols
())
||
(
is_quaternion
&&
_x
.
size
()
==
4
&&
_cov
.
rows
()
==
3
&&
_cov
.
cols
()
==
3
))
&&
"bad prior/covariance dimensions"
);
assert
((
_size
==
-
1
&&
_start_idx
==
0
)
||
(
_size
+
_start_idx
<=
_sb
->
getSize
()));
assert
(
_size
==
-
1
||
_size
==
_x
.
size
());
assert
(
!
(
_size
!=
-
1
&&
is_quaternion
)
&&
"prior of a segment of state not available for quaternion"
);
// set StateBlock state
if
(
_size
==
-
1
)
_sb
->
setState
(
_x
);
else
{
Eigen
::
VectorXs
new_x
=
_sb
->
getState
();
new_x
.
segment
(
_start_idx
,
_size
)
=
_x
;
_sb
->
setState
(
new_x
);
}
// remove previous prior (if any)
StateBlockPtr
_sb
=
getStateBlockPtrStatic
(
_i
);
if
(
params_prior_map_
.
find
(
_sb
)
!=
params_prior_map_
.
end
())
params_prior_map_
[
_sb
]
->
remove
();
// create feature
FeatureBasePtr
ftr_prior
=
std
::
make_shared
<
FeatureBase
>
(
"ABSOLUTE"
,
_x
,
_cov
);
// set feature problem
ftr_prior
->
setProblem
(
getProblem
());
// create & add constraint absolute
if
(
is_quaternion
)
ftr_prior
->
addConstraint
(
std
::
make_shared
<
ConstraintQuaternionAbsolute
>
(
_sb
));
else
ftr_prior
->
addConstraint
(
std
::
make_shared
<
ConstraintBlockAbsolute
>
(
_sb
,
_start_idx
,
_size
));
// store feature in params_prior_map_
params_prior_map_
[
_sb
]
=
ftr_prior
;
}
void
SensorBase
::
addPriorParameterDynamic
(
const
StateBlockPtr
&
_sb
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
,
int
_size
)
{
bool
is_quaternion
=
(
std
::
dynamic_pointer_cast
<
StateQuaternion
>
(
_sb
)
!=
nullptr
);
bool
is_quaternion
=
(
std
::
dynamic_pointer_cast
<
StateQuaternion
>
(
_sb
)
!=
nullptr
);
assert
(
std
::
find
(
state_block_vec_
.
begin
(),
state_block_vec_
.
end
(),
_sb
)
!=
state_block_vec_
.
end
()
&&
"adding prior to unknown state block"
);
assert
(((
!
is_quaternion
&&
_x
.
size
()
==
_cov
.
rows
()
&&
_x
.
size
()
==
_cov
.
cols
())
||
assert
(((
!
is_quaternion
&&
_x
.
size
()
==
_cov
.
rows
()
&&
_x
.
size
()
==
_cov
.
cols
())
||
(
is_quaternion
&&
_x
.
size
()
==
4
&&
_cov
.
rows
()
==
3
&&
_cov
.
cols
()
==
3
))
&&
"bad prior/covariance dimensions"
);
(
is_quaternion
&&
_x
.
size
()
==
4
&&
_cov
.
rows
()
==
3
&&
_cov
.
cols
()
==
3
))
&&
"bad prior/covariance dimensions"
);
assert
((
_size
==
-
1
&&
_start_idx
==
0
)
||
(
_size
+
_start_idx
<=
_sb
->
getSize
()));
assert
((
_size
==
-
1
&&
_start_idx
==
0
)
||
(
_size
+
_start_idx
<=
_sb
->
getSize
()));
...
@@ -207,8 +167,8 @@ void SensorBase::addPriorParameterDynamic(const StateBlockPtr& _sb, const Eigen:
...
@@ -207,8 +167,8 @@ void SensorBase::addPriorParameterDynamic(const StateBlockPtr& _sb, const Eigen:
}
}
// remove previous prior (if any)
// remove previous prior (if any)
if
(
params_prior_map_
.
find
(
_
sb
)
!=
params_prior_map_
.
end
())
if
(
params_prior_map_
.
find
(
_
i
)
!=
params_prior_map_
.
end
())
params_prior_map_
[
_
sb
]
->
remove
();
params_prior_map_
[
_
i
]
->
remove
();
// create feature
// create feature
FeatureBasePtr
ftr_prior
=
std
::
make_shared
<
FeatureBase
>
(
"ABSOLUTE"
,
_x
,
_cov
);
FeatureBasePtr
ftr_prior
=
std
::
make_shared
<
FeatureBase
>
(
"ABSOLUTE"
,
_x
,
_cov
);
...
@@ -223,7 +183,7 @@ void SensorBase::addPriorParameterDynamic(const StateBlockPtr& _sb, const Eigen:
...
@@ -223,7 +183,7 @@ void SensorBase::addPriorParameterDynamic(const StateBlockPtr& _sb, const Eigen:
ftr_prior
->
addConstraint
(
std
::
make_shared
<
ConstraintBlockAbsolute
>
(
_sb
,
_start_idx
,
_size
));
ftr_prior
->
addConstraint
(
std
::
make_shared
<
ConstraintBlockAbsolute
>
(
_sb
,
_start_idx
,
_size
));
// store feature in params_prior_map_
// store feature in params_prior_map_
params_prior_map_
[
_
sb
]
=
ftr_prior
;
params_prior_map_
[
_
i
]
=
ftr_prior
;
}
}
void
SensorBase
::
registerNewStateBlocks
()
void
SensorBase
::
registerNewStateBlocks
()
...
...
This diff is collapsed.
Click to expand it.
src/sensor_base.h
+
2
−
64
View file @
790806d3
...
@@ -150,46 +150,17 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
...
@@ -150,46 +150,17 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
* \param _size state segment size (-1: whole state) (not used in quaternions)
* \param _size state segment size (-1: whole state) (not used in quaternions)
*
*
**/
**/
void
addParameter
StaticPrior
(
const
StateBlockPtr
&
_sb
,
void
addP
riorP
arameter
(
const
StateBlockPtr
&
_sb
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
unsigned
int
_start_idx
=
0
,
int
_size
=
-
1
);
int
_size
=
-
1
);
void
addPriorParameter
(
const
unsigned
int
_i
,
void
addParameterDynamicPrior
(
const
CaptureBase
&
_cap
,
const
StateBlockPtr
&
_sb
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
int
_size
=
-
1
);
void
addParameterPrior
(
const
unsigned
int
_i
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
int
_size
=
-
1
);
void
addParameterPrior
(
const
unsigned
int
_i
,
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
unsigned
int
_start_idx
=
0
,
int
_size
=
-
1
);
int
_size
=
-
1
);
void
addPPrior
(
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
int
_size
=
-
1
);
void
addOPrior
(
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
);
void
addIntrinsicsPrior
(
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
int
_size
=
-
1
);
void
addPriorP
(
const
Eigen
::
VectorXs
&
_x
,
void
addPriorP
(
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
unsigned
int
_start_idx
=
0
,
...
@@ -321,41 +292,8 @@ inline void SensorBase::setHardwarePtr(const HardwareBasePtr _hw_ptr)
...
@@ -321,41 +292,8 @@ inline void SensorBase::setHardwarePtr(const HardwareBasePtr _hw_ptr)
hardware_ptr_
=
_hw_ptr
;
hardware_ptr_
=
_hw_ptr
;
}
}
inline
void
SensorBase
::
addParameterPrior
(
const
unsigned
int
_i
,
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
,
int
_size
)
{
CaptureBasePtr
cap
;
// i is dynamic? //TODO
if
(
isStateBlockDynamic
(
_i
,
_ts
,
cap
))
addParameterDynamicPrior
(
cap
,
cap
->
getStateBlockPtr
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
else
addParameterStaticPrior
(
getStateBlockPtrStatic
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
}
inline
void
SensorBase
::
addPriorParameter
(
const
unsigned
int
_i
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
inline
void
SensorBase
::
addPriorParameter
(
const
unsigned
int
_i
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
,
int
_size
)
unsigned
int
_start_idx
,
int
_size
)
{
CaptureBasePtr
cap
;
// i is dynamic? //TODO
if
(
isStateBlockDynamic
(
_i
,
cap
))
addParameterDynamicPrior
(
cap
,
cap
->
getStateBlockPtr
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
else
addParameterStaticPrior
(
getStateBlockPtrStatic
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
}
inline
void
SensorBase
::
addPPrior
(
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
,
int
_size
)
{
addParameterPrior
(
0
,
_ts
,
_x
,
_cov
,
_start_idx
,
_size
);
}
inline
void
SensorBase
::
addOPrior
(
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
)
{
addParameterPrior
(
1
,
_ts
,
_x
,
_cov
);
}
inline
void
SensorBase
::
addIntrinsicsPrior
(
const
TimeStamp
_ts
,
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
,
int
_size
)
{
{
addPriorParameter
(
getStateBlockPtrStatic
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
addPriorParameter
(
getStateBlockPtrStatic
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
}
}
...
...
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